generalize the packaging and correct a bug in the computation of the com position

src/CMakeLists.txt

src/MotionGeneration/ComAndFootRealizationByGeometry.cpp

src/PreviewControl/PreviewControl.cpp

src/RobotDynamics/pinocchiorobot.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp

tests/CMakeLists.txt